Precise Bicycle Modeling and Model-based Stabilization Control on State Dependent Riccati Equation

In this paper, we aim to develop a precise bicycle model which captures characteristic bicycle behavior such as contact point motion on a surface, front fork effect and centrifugal force, which affects bicycle stability especially in the low-speed or high-speed case. From a historical viewpoint, some of them have been often neglected in the conventional modeling process, and they have caused instability in the low and/or high speed range even though a stabilizing control based on each model has been applied to the bicycle. State Dependent Riccati Equation control scheme utilizes the precise bicycle model to realize a nonlinear controller working sufficiently in low/high speed range. The effectiveness of the proposed method is verified through numerical simulation and comparison of the conventional "Whipple model" with respect to the region of attraction.